The car tells you "please keep your hands on the wheel". It then proceeds to nag you if you don't put enough torque on the wheel, and then brings the car to a halt in the middle of the road.

Please don't propagate myths about "Tesla doesn't make it clear that you have to be in control of the vehicle."

My AP has many times disengaged because despite paying attention to the driving I wasn't putting enough torque on the wheel to convince AP that actually had my hands on the wheel.

Have you used it? Because its as clear as any system that I've ever used with a clear statement on each activation.

Most other systems are far less clear, IMO.